def _get_quad_pos_vel(self, msg):
"""Callback to save the position and velocity of the quad into
object properties.
"""
self._pos, self._vel, dummy, dummy, dummy, dummy = umc.odometry_msg_to_reference_point(msg)
self._got_initial_pos_vel_flag = True
def _get_quad_initial_pos(self, msg):
"""This is called only once to get the initial position of the quad, in
case one wants to use it as the starting point for the reference
trajectory.
This callback kills the subcriber object herself at the end of the call.
"""
self._quad_initial_pos, dummy, dummy, dummy, dummy, dummy = umc.odometry_msg_to_reference_point(msg)
self._sub.unregister()
self._got_quad_initial_pos_flag = True
def _get_leader_pos_vel(self, msg):
self._lead_pos, self._lead_vel, aux3, aux4, aux5, aux6 = umc.odometry_msg_to_reference_point(msg)
self._got_leader_pos_vel_flag = True
def _get_other_pos(self, msg, quad_name):
self._other_quads[quad_name].pos, dummy, dummy, dummy, dummy, dummy = umc.odometry_msg_to_reference_point(msg)
self._other_quads[quad_name].got_initial_pos_flag = True
